A robust control method for a three-degree-of-freedom model helicopter with limited output

Abstract

The invention discloses a robust control method of a three-DOF model helicopter with output limits. The method decomposes a three-DOF model helicopter system into a subsystem 1 formed by pitch and roll channels and a subsystem 2 formed by a yaw channel. The method comprises the following steps: 1, transforming control systems of the subsystem 1 and the subsystem 2 into the form of affine non-linear system equations respectively; and 2, designing a robust controller according to the affine non-linear system equation of each of the subsystem 1 and the subsystem 2. The method takes the motions of three axes of the helicopter into consideration, divides the whole system into two subsystems, and designs the controllers corresponding to the subsystem 1 and the subsystem 2 respectively. The controllers enable the helicopter to have good control performance when the system faces uncertainty, unknown external interference and status which cannot be measured directly.

Description

[0001] Technical field: [0002] The invention relates to a robust control method of a three-degree-of-freedom model helicopter with limited output, which belongs to the technical field of helicopter flight control. [0003] Background technique: [0004] The three-degree-of-freedom model helicopter system is an experimental device with simple structure and low cost, but as a controlled object, it is quite complicated, and it is an unstable, multi-variable, nonlinear, and strongly coupled multiple-input multiple-output system. Only by adopting effective control methods can it run stably. The stability and state of the control effect of the helicopter system can be intuitively measured by the pitch angle, roll angle, rotation speed and stabilization time. Therefore, the three-degree-of-freedom model helicopter system can be used as a flight control technology research platform for the development and verification of helicopter flight control methods. [0005] Backstepping cont...

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Problems solved by technology

[0004] The three-degree-of-freedom model helicopter system is an experimental device with simple structure and low cost, but as a controlled object, it is quite complicated, and it is an unstable, multi-variable, nonlinear, and strongly coupled multiple-input multiple-output system. Only by adopting effective control methods can it run stably

[0006] Because there are states in the system that cannot be directly measured, the control law of the system cannot be realized

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